From 18d5aa74fd42a4d02d337591cb6ef81e2ca46bcc Mon Sep 17 00:00:00 2001
From: paleziart <paleziart@laas.fr>
Date: Thu, 29 Apr 2021 17:45:52 +0200
Subject: [PATCH] Remove old logger that was not used anymore
---
scripts/Controller.py | 7 ++-----
scripts/utils_mpc.py | 11 ++---------
2 files changed, 4 insertions(+), 14 deletions(-)
diff --git a/scripts/Controller.py b/scripts/Controller.py
index 93dae208..c9c2ec9e 100644
--- a/scripts/Controller.py
+++ b/scripts/Controller.py
@@ -106,9 +106,8 @@ class Controller:
self.solo, self.fsteps_init, self.h_init = utils_mpc.init_robot(q_init, self.enable_gepetto_viewer)
# Create Joystick, FootstepPlanner, Logger and Interface objects
- self.joystick, self.logger, self.estimator = utils_mpc.init_objects(
- dt_wbc, dt_mpc, N_SIMULATION, k_mpc, T_gait, type_MPC, predefined_vel, self.h_init, kf_enabled,
- perfectEstimator)
+ self.joystick, self.estimator = utils_mpc.init_objects(
+ dt_wbc, N_SIMULATION, predefined_vel, self.h_init, kf_enabled, perfectEstimator)
# Enable/Disable hybrid control
self.enable_hybrid_control = True
@@ -127,8 +126,6 @@ class Controller:
self.gait = lqrw.Gait()
self.gait.initialize(dt_mpc, T_gait, T_mpc, N_gait)
- """from IPython import embed
- embed()"""
shoulders = np.zeros((3, 4))
shoulders[0, :] = [0.1946, 0.1946, -0.1946, -0.1946]
diff --git a/scripts/utils_mpc.py b/scripts/utils_mpc.py
index 0fea358d..108592f8 100644
--- a/scripts/utils_mpc.py
+++ b/scripts/utils_mpc.py
@@ -129,16 +129,12 @@ def init_robot(q_init, enable_viewer):
return solo, fsteps_init, h_init
-def init_objects(dt_tsid, dt_mpc, k_max_loop, k_mpc, T_mpc, type_MPC, predefined, h_init, kf_enabled, perfectEstimator):
+def init_objects(dt_tsid, k_max_loop, predefined, h_init, kf_enabled, perfectEstimator):
"""Create several objects that are used in the control loop
Args:
dt_tsid (float): time step of TSID
- dt_mpc (float): time step of the MPC
k_max_loop (int): maximum number of iterations of the simulation
- k_mpc (int): number of tsid iterations for one iteration of the mpc
- T_mpc (float): duration of mpc prediction horizon
- type_MPC (bool): which MPC you want to use (PA's or Thomas')
predefined (bool): if we are using a predefined reference velocity (True) or a joystick (False)
h_init (float): initial height of the robot base
kf_enabled (bool): complementary filter (False) or kalman filter (True)
@@ -148,13 +144,10 @@ def init_objects(dt_tsid, dt_mpc, k_max_loop, k_mpc, T_mpc, type_MPC, predefined
# Create Joystick object
joystick = Joystick.Joystick(predefined)
- # Create logger object
- logger = Logger.Logger(k_max_loop, dt_tsid, dt_mpc, k_mpc, T_mpc, type_MPC)
-
# Create Estimator object
estimator = Estimator.Estimator(dt_tsid, k_max_loop, h_init, kf_enabled, perfectEstimator)
- return joystick, logger, estimator
+ return joystick, estimator
def display_all(solo, k, sequencer, fstep_planner, ftraj_gen, mpc):
--
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